WavefieldPlugin - srmainwaring/asv_wave_sim GitHub Wiki

A Gazebo model plugin to simulate water waves.

Add the SDF for the plugin to the <model> element of your wave model.

<plugin name="wavefield" filename="libWavefieldModelPlugin.so">
  <static>false</static>
  <update_rate>30</update_rate>
  <size>1000 1000</size>
  <cell_count>50 50</cell_count>
  <wave>
    <number>3</number>
    <scale>1.5</scale>
    <angle>0.4</angle>
    <steepness>1.0</steepness>
    <amplitude>0.4</amplitude>
    <period>8.0</period>
    <direction>1 1</direction>
  </wave>
  <markers>
    <wave_patch>false</wave_patch>
    <wave_patch_size>4 4</wave_patch_size>
  </markers>
</plugin>

1. ~/request (gazebo::msgs::Request)

2. ~/wave (gazebo::msgs::Param_V)

1. ~/reponse (gazebo::msgs::Response)

2. /marker (ignition::msgs::Marker)

1. <static> (bool, default: false)
   Create a static wave field if set to true.

2. <update_rate> (double, default: 30.0)
   The rate in Hz at which the wavefield is updated.

3. <size> (Vector2D, default: (1000 1000))
   A two component vector for the size of the wave field in each direction.

4. <cell_count> (int, default: (50 50))
   A two component vector for the number of grid cells in each direction.

5. <number> (int, default: 1)
   The number of component waves.

6. <scale> (double, default: 2.0)
   The scale between the mean and largest / smallest component waves.

7. <angle> (double, default: 2*pi/10)
   The angle between the mean wave direction and the largest / smallest component waves.

8. <steepness> (double, default: 1.0)
   A parameter in [0, 1] controlling the wave steepness with 1 being steepest.

9. <amplitude> (double, default: 0.0)
   The amplitude of the mean wave in [m].

10. <period> (double, default: 1.0)
    The period of the mean wave in [s].

11. <phase> (double, default: 0.0)
    The phase of the mean wave.

12. <direction> (Vector2D, default: (1 0))
    A two component vector specifiying the direction of the mean wave.

13. <wave_patch> (bool, default: false)
    Display a wave patch marker if set to true.

14. <wave_patch_size> (Vector2D, default: (4 4))
    A two component vector for the size of the wave marker (in units of the wave grid).